WO2003037573A3 - Manipulateur robotise - Google Patents

Manipulateur robotise Download PDF

Info

Publication number
WO2003037573A3
WO2003037573A3 PCT/US2002/034949 US0234949W WO03037573A3 WO 2003037573 A3 WO2003037573 A3 WO 2003037573A3 US 0234949 W US0234949 W US 0234949W WO 03037573 A3 WO03037573 A3 WO 03037573A3
Authority
WO
WIPO (PCT)
Prior art keywords
shackle
rotatable
supported
relative motion
support structures
Prior art date
Application number
PCT/US2002/034949
Other languages
English (en)
Other versions
WO2003037573A2 (fr
Inventor
Mark E Rosheim
Original Assignee
Ross Hime Designs Incoporated
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=23316266&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2003037573(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Ross Hime Designs Incoporated filed Critical Ross Hime Designs Incoporated
Priority to AU2002353941A priority Critical patent/AU2002353941A1/en
Publication of WO2003037573A2 publication Critical patent/WO2003037573A2/fr
Publication of WO2003037573A3 publication Critical patent/WO2003037573A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un système de mouvement relatif commandé possédant des première et seconde structures de soutien avec un joint de position de sortie commandée les reliant, ainsi que des joints similaires situés sur ces structures de soutien. Un joint est couplé à un autre système de mouvement relatif commandé possédant un support de sortie rotatif dans deux directions perpendiculaires à travers l'utilisation d'engrenages. Ce support de sortie soutient deux systèmes de manipulation articulés dont l'un possède une sous-base rotative à axe unique soutenant une extension de préhension rotative, et l'autre possède une manille reliée à un organe effecteur de base, laquelle manille est soutenue sur un piédestal fixe, ainsi qu'une autre manille reliée à un organe effecteur de base, laquelle manille est soutenue sur un piédestal mobile.
PCT/US2002/034949 2001-10-31 2002-10-31 Manipulateur robotise WO2003037573A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2002353941A AU2002353941A1 (en) 2001-10-31 2002-10-31 Robotic manipulator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US33647701P 2001-10-31 2001-10-31
US60/336,477 2001-10-31

Publications (2)

Publication Number Publication Date
WO2003037573A2 WO2003037573A2 (fr) 2003-05-08
WO2003037573A3 true WO2003037573A3 (fr) 2003-11-20

Family

ID=23316266

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/034949 WO2003037573A2 (fr) 2001-10-31 2002-10-31 Manipulateur robotise

Country Status (3)

Country Link
US (1) US6658962B1 (fr)
AU (1) AU2002353941A1 (fr)
WO (1) WO2003037573A2 (fr)

Families Citing this family (64)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3435666B2 (ja) * 1999-09-07 2003-08-11 ソニー株式会社 ロボット
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
CA2451824C (fr) * 2001-06-29 2015-02-24 Intuitive Surgical, Inc. Mecanisme de poignet relie a une plate-forme
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
KR101026692B1 (ko) 2002-12-06 2011-04-07 인튜어티브 서지컬 인코포레이티드 긴 샤프트를 포함하는 장치
SE0302610L (sv) * 2003-10-02 2005-03-29 Parallel Kinematics Machines S Led till ett lagrat ställdon lagrat kring ett wobbelorgan
ES2255386B1 (es) * 2004-05-13 2007-10-01 Loxin 2002, S.L. Sistema mejorado de remachado automatico.
US7734375B2 (en) * 2004-06-09 2010-06-08 Boston Dynamics Robot and robot leg mechanism
JP2006026807A (ja) * 2004-07-16 2006-02-02 Harmonic Drive Syst Ind Co Ltd ロボットハンド等の関節機構
JP2006026806A (ja) * 2004-07-16 2006-02-02 Harmonic Drive Syst Ind Co Ltd ロボットハンド等の関節機構
US7296835B2 (en) * 2005-08-11 2007-11-20 Anybots, Inc. Robotic hand and arm apparatus
US20090084219A1 (en) * 2007-09-10 2009-04-02 Ross-Hime Designs, Inc. Robotic manipulator
KR100899108B1 (ko) 2007-10-24 2009-05-26 재단법인 포항지능로봇연구소 로봇 핸드
KR100926820B1 (ko) 2007-10-24 2009-11-12 재단법인 포항지능로봇연구소 로봇 핸드의 엄지 구조
KR101272635B1 (ko) * 2007-11-26 2013-06-10 모터 파워 컴파니 에스.알.엘. 물체를 핸들링하고 및/또는 물체에 작업을 수행하기 위한 장치
US7686529B1 (en) 2007-12-18 2010-03-30 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Two-axis joint assembly and method
FR2930905B1 (fr) * 2008-05-09 2010-10-01 Bia Cheville pour robot humanoide
DE102008023926B4 (de) * 2008-05-16 2010-09-23 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboterfinger sowie Roboterhand
FR2931718B1 (fr) * 2008-05-29 2011-02-11 Bia Hanche pour robot humanoide
IT1392708B1 (it) * 2009-01-20 2012-03-16 Milano Politecnico Unità meccanica multifunzione
US8047094B2 (en) * 2009-02-27 2011-11-01 Ut-Battelle, Llc Hydraulic involute cam actuator
US8245595B2 (en) * 2009-04-30 2012-08-21 Wisconsin Alumni Research Foundation Two-axis non-singular robotic wrist
US8255079B2 (en) * 2009-09-22 2012-08-28 GM Global Technology Operations LLC Human grasp assist device and method of use
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
FR2950623B1 (fr) 2009-09-29 2011-10-21 Snpe Materiaux Energetiques Suspension de cristaux d'hexanitrohexaazaisowurtzitane, obtention desdites suspensions et fabrication d'objets pyrotechniques.
DE102010006617A1 (de) * 2010-02-01 2011-08-04 Gottfried Wilhelm Leibniz Universität Hannover, 30167 Betätigungseinrichtung zur mehrachsigen räumlichen Positionierung eines Hilfsmittels und Verfahren zur Steuerung einer Betätigungseinrichtung
JP5423441B2 (ja) * 2010-02-03 2014-02-19 株式会社安川電機 作業システム、ロボット装置、機械製品の製造方法
IT1398238B1 (it) * 2010-02-25 2013-02-22 Surgica Robotica S P A Strumento per la chirurgia robotica
US8336420B2 (en) * 2010-06-02 2012-12-25 Disney Enterprises, Inc. Three-axis robotic joint using four-bar linkages to drive differential side gears
TWI477706B (zh) * 2012-09-06 2015-03-21 Ind Tech Res Inst 差速驅動裝置及應用該裝置之機械手臂
TWI401144B (zh) * 2010-10-01 2013-07-11 Ind Tech Res Inst 高反應力關節裝置的控制方法
US9140344B2 (en) * 2010-10-01 2015-09-22 Industrial Technology Research Institute Differential-velocity driving device and mechanical arm to which the differential-velocity driving device is applied
IT1404527B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
IT1404528B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
US9120220B2 (en) 2012-02-29 2015-09-01 GM Global Technology Operations LLC Control of a glove-based grasp assist device
US9067325B2 (en) 2012-02-29 2015-06-30 GM Global Technology Operations LLC Human grasp assist device soft goods
US8849453B2 (en) 2012-02-29 2014-09-30 GM Global Technology Operations LLC Human grasp assist device with exoskeleton
JP6000579B2 (ja) 2012-03-09 2016-09-28 キヤノン株式会社 情報処理装置、情報処理方法
JP5975685B2 (ja) 2012-03-09 2016-08-23 キヤノン株式会社 情報処理装置、情報処理方法
JP5977544B2 (ja) * 2012-03-09 2016-08-24 キヤノン株式会社 情報処理装置、情報処理方法
WO2014096432A1 (fr) * 2012-12-21 2014-06-26 Materialise N.V. Appareil et procédés de positionnement d'un objet à l'aide d'un bloc d'ajustement
US9149933B2 (en) * 2013-02-07 2015-10-06 GM Global Technology Operations LLC Grasp assist device with shared tendon actuator assembly
WO2015120083A1 (fr) * 2014-02-04 2015-08-13 Rehabilitation Institute Of Chicago Composants modulaires et légers de prothèse myoélectrique et procédés correspondants
US9486919B1 (en) 2014-08-13 2016-11-08 Google Inc. Dual-axis robotic joint
US9475191B1 (en) * 2014-09-03 2016-10-25 Google Inc. Robotic leg parallel to a ball screw
JP6767093B2 (ja) * 2015-03-12 2020-10-14 株式会社岩田鉄工所 多指ハンド装置
US9555846B1 (en) * 2015-03-20 2017-01-31 Google Inc. Pelvis structure for humanoid robot
US10189519B2 (en) * 2015-05-29 2019-01-29 Oregon State University Leg configuration for spring-mass legged locomotion
CN105690372A (zh) * 2016-03-24 2016-06-22 褚宏鹏 两自由度焊接机器人腕关节
CN105599002A (zh) * 2016-03-24 2016-05-25 褚宏鹏 四支链两转动并联机器人关节
CN105690420A (zh) * 2016-03-24 2016-06-22 褚宏鹏 并联喷涂机器人关节
CN105598997A (zh) * 2016-03-24 2016-05-25 褚宏鹏 球面两自由度并联机器人关节
CN105619398A (zh) * 2016-03-24 2016-06-01 褚宏鹏 支链耦合的两转动并联机构
CN105773579A (zh) * 2016-03-24 2016-07-20 褚宏鹏 多支链耦合球面两转动并联机构
CN105643660A (zh) * 2016-03-24 2016-06-08 褚宏鹏 一种新型两自由度并联机器人关节
CN105619391A (zh) * 2016-03-24 2016-06-01 褚宏鹏 两自由度并联机构
MX2016012378A (es) * 2016-09-23 2018-03-22 Univ Mexico Nac Autonoma Manipulador robotico configurable accionado por medio de actuadores y tendones.
CN107139164B (zh) * 2017-06-21 2023-03-10 东莞爱创机器人科技有限公司 一种球面并联机构
JP7250758B2 (ja) 2017-08-10 2023-04-03 プロ－デツクス・インコーポレイテツド 締結具の内視鏡的留置のための関節動作ツール
CN107933728A (zh) * 2017-12-22 2018-04-20 华南理工大学广州学院 清洁爬壁机器人的腿部结构
CN109822557A (zh) * 2019-03-01 2019-05-31 达闼科技（北京）有限公司 一种机械手及机器人
EP3953117A1 (fr) * 2019-04-10 2022-02-16 QBRobotics S.r.l. Main robotique
IT201900005558A1 (it) * 2019-04-10 2020-10-10 Qbrobotics S R L Mano robotica
CN111098951A (zh) * 2019-12-30 2020-05-05 深圳市优必选科技股份有限公司 类人形机器人及其腿部结构

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4821594A (en) * 1988-06-10 1989-04-18 Mark E. Rosheim Robot joints
US5692412A (en) * 1993-11-15 1997-12-02 Ross-Hime Designs, Incorporated Robotic manipulator
US5845540A (en) * 1995-06-30 1998-12-08 Ross-Hime Designs, Incorporated Robotic manipulator
US5967580A (en) * 1995-06-30 1999-10-19 Ross-Hine Designs, Incorporated Robotic manipulator
US5979264A (en) * 1997-03-13 1999-11-09 Ross-Hime Designs, Incorporated Robotic manipulator
US6418811B1 (en) * 2000-05-26 2002-07-16 Ross-Hime Designs, Inc. Robotic manipulator

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4821594A (en) * 1988-06-10 1989-04-18 Mark E. Rosheim Robot joints
US5692412A (en) * 1993-11-15 1997-12-02 Ross-Hime Designs, Incorporated Robotic manipulator
US5845540A (en) * 1995-06-30 1998-12-08 Ross-Hime Designs, Incorporated Robotic manipulator
US5967580A (en) * 1995-06-30 1999-10-19 Ross-Hine Designs, Incorporated Robotic manipulator
US5979264A (en) * 1997-03-13 1999-11-09 Ross-Hime Designs, Incorporated Robotic manipulator
US6105455A (en) * 1997-03-13 2000-08-22 Ross-Hime Designs, Incorporated Robotic manipulator
US6418811B1 (en) * 2000-05-26 2002-07-16 Ross-Hime Designs, Inc. Robotic manipulator

Also Published As

Publication number Publication date
WO2003037573A2 (fr) 2003-05-08
AU2002353941A1 (en) 2003-05-12
US6658962B1 (en) 2003-12-09

Similar Documents

Publication Publication Date Title
WO2003037573A3 (fr) Manipulateur robotise
Tsai et al. Kinematics of a novel three DOF translational platform
CA2316376A1 (fr) Structure de bras pour robots de travail anthropomorphique
CA2305320A1 (fr) Robot manipulateur
SE9703307D0 (sv) Anordning för relativ förflyttning av två element
WO2002034461A3 (fr) Ameliorations dans la conception de machines a elements de liaison paralleles
CN104827463A (zh) 具有弧形移动副的三自由度球面并联机构
CA2475239A1 (fr) Centre telecommande d'un procede et d'un systeme automatises et motorises
CA2137023A1 (fr) Robot industriel, particulierement pour transporter une piece d'une presse a une autre dans une chaine de presses
US7086307B2 (en) Parallel control arm with two branches
EP1598153A4 (fr) Manipulateur a joints multiples
AU2001270790A1 (en) Gripping devices
CA2290202A1 (fr) Articulation a rotule presentant un mouvement rotatif et axial
EP1166955A3 (fr) Système pour attacher / détacher une pièce à usiner sur un support de fixation
CA2128903A1 (fr) Stabiliseur a bras multiples
WO2003101673A3 (fr) Appareil de couplage d'un bras robotique
RU2000119751A (ru) Конструкция механической руки антропоморфного робота
WO2003006214A3 (fr) Manipulateur robotise a mouvement continu
WO2004019831A3 (fr) Articulation artificielle
NO904663D0 (no) Robot i kranutfoerelse for friluftsbruk.
WO2003037574A3 (fr) Dispositif robotique pour le chargement d'instruments de laboratoire
JP3569674B2 (ja) ３軸以上の多軸リンクを一点で連結する球形ジョイント
CA2370942A1 (fr) Outillage a changement rapide pour poste de travail robotique
US7392722B2 (en) Control unit with three parallel branches
US3160290A (en) Servo manipulator arm

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ OM PH PL PT RO RU SD SE SG SI SK SL TJ TM TN TR TT TZ UA UG UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LU MC NL PT SE SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP